incl/rrtbase.h

   1 /*
   2 This file is part of I am car.
   3
   4 I am car is free software: you can redistribute it and/or modify
   5 it under the terms of the GNU General Public License as published by
   6 the Free Software Foundation, either version 3 of the License, or
   7 (at your option) any later version.
   8
   9 I am car is distributed in the hope that it will be useful,
  10 but WITHOUT ANY WARRANTY; without even the implied warranty of
  11 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12 GNU General Public License for more details.
  13
  14 You should have received a copy of the GNU General Public License
  15 along with I am car. If not, see <http://www.gnu.org/licenses/>.
  16 */
  17
  18 #ifndef RRTBASE_H
  19 #define RRTBASE_H
  20
  21 #include <chrono>
  22 #include <cmath>
  23 #include <pthread.h>
  24 #include <vector>
  25 #include "obstacle.h"
  26 #include "rrtnode.h"
  27 #include "sample.h"
  28
  29 #define NOFNODES 20000
  30
  31 #define IXSIZE 100
  32 #define IXSTEP (1.0 * ((VMAX) - (VMIN)) / IXSIZE)
  33 #define IXI(x) ({ __typeof__ (x) _x = (x); \
  34                 (int) floor(_x / IXSTEP); })
  35 #define IYSIZE 100
  36 #define IYSTEP (1.0 * ((HMAX) - (HMIN)) / IYSIZE)
  37 #define IYI(y) ({ __typeof__ (y) _y = (y); \
  38                 (int) floor(_y / IYSTEP); })
  39
  40 class Cell {
  41         private:
  42                 std::vector<RRTNode *> nodes_;
  43                 pthread_mutex_t m_;
  44                 bool changed_ = false;
  45         public:
  46                 Cell();
  47
  48                 // getter
  49                 bool changed();
  50                 std::vector<RRTNode *> nodes();
  51
  52                 // other
  53                 void add_node(RRTNode *n);
  54 };
  55
  56 class RRTBase {
  57         private:
  58                 RRTNode *root_ = nullptr;
  59                 RRTNode *goal_ = nullptr;
  60
  61                 std::vector<RRTNode *> nodes_;
  62                 std::vector<RRTNode *> dnodes_;
  63                 std::vector<RRTNode *> samples_;
  64                 std::vector<CircleObstacle> *cobstacles_;
  65                 std::vector<SegmentObstacle> *sobstacles_;
  66
  67                 bool goal_found_ = false;
  68                 std::chrono::high_resolution_clock::time_point tstart_;
  69                 std::chrono::high_resolution_clock::time_point tend_;
  70
  71                 std::vector<float> clog_; // costs of trajectories
  72                 std::vector<float> nlog_; // #nodes of RRT
  73                 std::vector<std::vector<RRTEdge *>> rlog_; // log tree
  74                 std::vector<float> slog_; // seconds of trajectories
  75                 std::vector<std::vector<RRTNode *>> tlog_; // trajectories
  76         public:
  77                 const float GOAL_FOUND_DISTANCE = 0.2;
  78                 const float GOAL_FOUND_ANGLE = M_PI / 32;
  79
  80                 ~RRTBase();
  81                 RRTBase();
  82                 RRTBase(RRTNode *init, RRTNode *goal);
  83
  84                 // getter
  85                 RRTNode *root();
  86                 RRTNode *goal();
  87                 std::vector<RRTNode *> &nodes();
  88                 std::vector<RRTNode *> &dnodes();
  89                 std::vector<RRTNode *> &samples();
  90                 std::vector<RRTNode *> iy_[IYSIZE];
  91                 Cell ixy_[IXSIZE][IYSIZE];
  92                 std::vector<CircleObstacle> *co();
  93                 std::vector<SegmentObstacle> *so();
  94                 std::vector<float> &clog();
  95                 std::vector<float> &nlog();
  96                 std::vector<std::vector<RRTEdge *>> &rlog();
  97                 std::vector<float> &slog();
  98                 std::vector<std::vector<RRTNode *>> &tlog();
  99                 bool goal_found();
 100                 float elapsed();
 101
 102                 // setter
 103                 void root(RRTNode *node);
 104                 void goal(RRTNode *node);
 105                 bool logr(RRTNode *root);
 106                 float ocost(RRTNode *n);
 107                 bool tlog(std::vector<RRTNode *> t);
 108                 void tstart();
 109                 void tend();
 110                 bool link_obstacles(
 111                                 std::vector<CircleObstacle> *cobstacles,
 112                                 std::vector<SegmentObstacle> *sobstacles);
 113                 bool add_iy(RRTNode *n);
 114                 bool add_ixy(RRTNode *n);
 115                 bool goal_found(bool f);
 116
 117                 // other
 118                 bool glplot();
 119                 bool goal_found(
 120                                 RRTNode *node,
 121                                 float (*cost)(RRTNode *, RRTNode *));
 122                 bool collide(RRTNode *init, RRTNode *goal);
 123                 bool optp_dijkstra(
 124                                 std::vector<RRTNode *> &cusps,
 125                                 std::vector<int> &npi);
 126                 bool optp_rrp(
 127                                 std::vector<RRTNode *> &cusps,
 128                                 std::vector<int> &npi);
 129                 bool optp_smart(
 130                                 std::vector<RRTNode *> &cusps,
 131                                 std::vector<int> &npi);
 132                 bool opt_path();
 133                 bool rebase(RRTNode *nr);
 134                 std::vector<RRTNode *> findt();
 135                 std::vector<RRTNode *> findt(RRTNode *n);
 136
 137                 // RRT Framework
 138                 RRTNode *sample();
 139                 float cost(RRTNode *init, RRTNode *goal);
 140                 RRTNode *nn(RRTNode *rs);
 141                 std::vector<RRTNode *> nv(RRTNode *node, float dist);
 142                 std::vector<RRTNode *> steer(RRTNode *init, RRTNode *goal);
 143                 std::vector<RRTNode *> steer(
 144                                 RRTNode *init,
 145                                 RRTNode *goal,
 146                                 float step);
 147
 148                 // virtuals - implemented by child classes
 149                 virtual bool next() = 0;
 150 };
 151
 152 #endif